Universal, online learning in multi-modal perception-action semilattices

ABSTRACT

In one embodiment, the present invention provides a method for interconnecting neurons in a neural network. At least one node among a first set of nodes is interconnected to at least one node among a second set of nodes, and nodes of the first and second set are arranged in a lattice. At least one node of the first set represents a sensory-motor modality of the neural network. At least one node of the second set is a union of at least two nodes of the first set. Each node in the lattice has an acyclic digraph comprising multiple vertices and directed edges. Each vertex represents a neuron population. Each directed edge comprises multiple synaptic connections. Vertices in different acyclic digraphs are interconnected using an acyclic bottom-up digraph. The bottom-up digraph has a corresponding acyclic top-down digraph. Vertices in the bottom-up digraph are interconnected to vertices in the top-down digraph.

CROSS-REFERENCE TO RELATED APPLICATIONS

This patent application is a continuation of U.S. Non-Provisional patent application Ser. No. 13/325,316 filed Dec. 14, 2011, the disclosure of which is incorporated herein by reference.

GOVERNMENT RIGHTS

This invention was made with Government support under HR0011-09-C-0002 awarded by Defense Advanced Research Projects Agency (DARPA). The Government has certain rights in this invention.

BACKGROUND

The present invention relates to neuromorphic and synaptronic computation, and in particular, universal, online learning in multi-modal perception-action semilattices.

Neuromorphic and synaptronic computation, also referred to as artificial neural networks, are computational systems that permit electronic systems to essentially function in a manner analogous to that of biological brains. Neuromorphic and synaptronic computation do not generally utilize the traditional digital model of manipulating 0s and 1s. Instead, neuromorphic and synaptronic computation create connections between processing elements that are roughly functionally equivalent to neurons of a biological brain. Neuromorphic and synaptronic computation may comprise various electronic circuits that are modeled on biological neurons.

In biological systems, the point of contact between an axon of a neuron and a dendrite on another neuron is called a synapse, and with respect to the synapse, the two neurons are respectively called pre-synaptic and post-synaptic. The essence of our individual experiences is stored in conductance of the synapses. The synaptic conductance changes with time as a function of the relative spike times of pre-synaptic and post-synaptic neurons, as per spike-timing dependent plasticity (STDP). The STDP rule increases the conductance of a synapse if its post-synaptic neuron fires after its pre-synaptic neuron fires, and decreases the conductance of a synapse if the order of the two firings is reversed.

BRIEF SUMMARY

In one embodiment, the present invention provides a method for interconnecting neurons in a neural network. The method comprises interconnecting at least one node among a first set of nodes to at least one node among a second set of nodes, and arranging nodes of the first and second set in a lattice. At least one node of the first set represents a sensory-motor modality of the neural network. At least one node of the second set is a union of at least two nodes of the first set. Each node in the lattice has an acyclic digraph comprising multiple vertices and directed edges. Each vertex represents a neuron population. Each directed edge comprises multiple synaptic connections. Vertices in different acyclic digraphs are interconnected using an acyclic bottom-up digraph. The bottom-up digraph has a corresponding acyclic top-down digraph. Vertices in the bottom-up digraph are interconnected to vertices in the top-down digraph.

In another embodiment, the present invention provides a method for interconnecting neural nodes. The method comprises interconnecting a plurality of first nodes in a first set of nodes with a plurality of second nodes in a second set of nodes, wherein the connected nodes are arranged in an interconnection lattice. A connected node in the second set is a union of at least two nodes in the first set, such that said connected node exchanges signals with said at least two nodes via the interconnection lattice.

In yet another embodiment, the present invention provides a signaling interconnect for neural nodes. The signaling interconnect comprises an interconnection lattice that interconnects a plurality of first nodes in a first set of nodes with a plurality of second nodes in a second set of nodes. The connected nodes are arranged in a lattice such that a connected node in the second set is a union of at least two nodes in the first set, and said connected node exchanges signals with said at least two nodes via the interconnection lattice.

In yet another embodiment, the present invention provides a computer program product on a computer-readable medium for interconnecting neural nodes arranged in an interconnection lattice. A connected node exchanges signals with at least two other nodes via the interconnection lattice, wherein a node comprises one or more neural vertices interconnected via multiple directed edges arranged in an acyclic digraph. Each neural vertex comprises one or more neurons, and each edge comprises a signaling pathway in the interconnection lattice.

These and other features, aspects and advantages of the present invention will become understood with reference to the following description, appended claims and accompanying figures.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

FIG. 1 illustrates an example structure of a neural module, in accordance with an embodiment of the invention;

FIG. 2 illustrates a neural network circuit, in accordance with an embodiment of the invention;

FIG. 3 illustrates nodes arranged in an interconnection lattice, in accordance with an embodiment of the invention;

FIG. 4 illustrates acyclic digraphs for each node in a lattice, in accordance with an embodiment of the invention;

FIG. 5 illustrates a bottom-up digraph of the lattice, in accordance with an embodiment of the invention;

FIG. 6 illustrates a lattice including a top-down digraph corresponding to a bottom-up digraph of the lattice, in accordance with an embodiment of the invention;

FIG. 7 illustrates a lattice including a combined perception-action graph, in accordance with an embodiment of the invention;

FIG. 8 illustrates a lattice including a combined perception-action graph, in accordance with another embodiment of the invention;

FIG. 9 illustrates a bijection between vertices, in accordance with an embodiment of the invention;

FIG. 10 illustrates neuron populations of vertices, in accordance with an embodiment of the invention;

FIG. 11 illustrates an example of synaptic connections between neuron populations, in accordance with an embodiment of the invention;

FIG. 12 illustrates another example of synaptic connections between neuron populations, in accordance with an embodiment of the invention;

FIG. 13 illustrates another example of neuron populations, in accordance with an embodiment of the invention;

FIG. 14 illustrates yet another example of synaptic connections between neuron populations;

FIG. 15 illustrates an example neural network, in accordance with an embodiment of the invention;

FIG. 16 illustrates a neural network with an evaluation module, in accordance with an embodiment of the invention;

FIG. 17 illustrates a neural network with an evaluation module, in accordance with an embodiment of the invention;

FIG. 18 illustrates an evaluation module 70 of a neural network, in accordance with an embodiment of the invention;

FIG. 19A illustrates an example of bijection between vertices, in accordance with an embodiment of the invention;

FIG. 19B illustrates another example of bijection between vertices, in accordance with an embodiment of the invention;

FIG. 20 illustrates an example of weights of the synaptic connections between neuron populations, in accordance with an embodiment of the invention;

FIG. 21 illustrates another example of weights of the synaptic connections between neuron populations, in accordance with an embodiment of the invention;

FIG. 22A illustrates an example Hebbian learning rule, in accordance with the present invention;

FIG. 22B illustrates an example anti-Hebbian learning rule, in accordance with the present invention;

FIG. 23 illustrates a flowchart of an example process 800 for a lattice, in accordance with an embodiment of the invention;

FIG. 24 illustrates a flowchart of an example process 900 for a neural network, in accordance with an embodiment of the invention; and

FIG. 25 is a high level block diagram showing an information processing circuit 300 useful for implementing one embodiment of the present invention.

DETAILED DESCRIPTION

The present invention relates to universal, online learning in multi-modal perception-action semilattices. In one embodiment, the present invention provides a method for interconnecting neurons in a neural network. The method comprises interconnecting at least one node among a first set of nodes to at least one node among a second set of nodes, and arranging nodes of the first and second set in a lattice. At least one node of the first set represents a sensory-motor modality of the neural network, and at least one node of the second set is a union of at least two nodes of the first set.

Each node in the lattice has a corresponding acyclic digraph. Each acyclic digraph comprises multiple vertices and multiple directed edges interconnecting the vertices in said acyclic digraph. Each vertex represents a neuron population comprising multiple neurons, and each directed edge interconnecting a sending vertex to a receiving vertex comprises multiple synaptic connections such that a neuron in a neuron population corresponding to the receiving vertex receives synaptic connections from a subset of neurons in a neuron population corresponding to the second vertex. Some acyclic digraphs are empty.

Vertices in different acyclic digraphs are interconnected using an acyclic bottom-up digraph, the bottom-up digraph including the vertices and directed edges of each acyclic digraph. The bottom-up digraph further includes additional directed edges that interconnect vertices in different acyclic digraphs. A sending vertex in a first acyclic digraph is interconnected to a receiving vertex in a second acyclic digraph only if the node corresponding to the second acyclic digraph is a superset of the node corresponding to the first acyclic digraph.

The bottom-up digraph has a corresponding acyclic top-down digraph, said top-down digraph comprising multiple vertices and multiple directed edges interconnecting the vertices in said top-down digraph. Each vertex in the top-down digraph corresponds to a vertex in the bottom-up digraph. Each directed edge in the top-down digraph corresponds to a directed edge in the bottom-up digraph, such that information flows along said directed edge in the top-down digraph in a first direction, and information flows along said corresponding directed edge in the bottom-up digraph in a direction opposite of the first direction.

Vertices in the bottom-up digraph are interconnected to vertices in the top-down digraph using additional directed edges. In one example implementation, a sending vertex in the bottom-up digraph is interconnected to a receiving vertex in the top-down digraph if the intersection of the node corresponding to the sending vertex and the node corresponding to the receiving vertex is empty. In another example implementation, a sending vertex in the bottom-up digraph is interconnected to a receiving vertex in the top-down digraph if the sending vertex and the receiving vertex correspond to one another.

In yet another example implementation, source vertices in the bottom-up digraph and the top-down digraph are identified, and sink vertices in the bottom-up digraph and the top-down digraph are identified. Source vertices are vertices that do not have incoming directed edges, and sink vertices are vertices that do have outgoing directed edges. For each source vertex in the bottom-up digraph, said source vertex in the bottom-up digraph is configured to receive sensory input. For each sink vertex in the bottom-up digraph, said sink vertex in the bottom-up graph is interconnected to a vertex in the top-down digraph using at least one outgoing directed edge from said sink vertex. For each source vertex in the top-down digraph, a vertex in the bottom-up graph is interconnected to said source vertex in the top-down graph using at least one incoming directed edge to said source vertex. For each sink vertex in the top-down digraph, said sink vertex in the top-down graph is configured to generate motor output.

In yet another example implementation, the bottom-up digraph is duplicated into a first duplicated bottom-up digraph and a second duplicated bottom-up digraph, and the top-down digraph is duplicated into a first duplicated top-down digraph and a second duplicated top-down digraph. Each vertex in the first duplicated bottom-up digraph and the first duplicated top-down digraph is identified as a good vertex, and each vertex in the second duplicated bottom-up digraph and the second duplicated top-down digraph is identified as a bad vertex. Each good vertex in the first duplicated bottom-up digraph corresponds to a bad vertex in the second duplicated bottom-up digraph, a good vertex in the first duplicated top-down digraph, and a bad vertex in the second duplicated top-down digraph. Good source vertices and bad source vertices are identified in the first and second duplicated bottom-up digraphs, respectively, wherein source vertices are vertices that do not have incoming directed edges. Good sink vertices and bad sink vertices are identified in the first and second duplicated top-down digraphs, respectively, wherein sink vertices are vertices that do have outgoing directed edges.

For each good sink vertex in the first duplicated top-down graph, said good sink vertex is connected to an evaluation module. The evaluation module determines whether an output from said good sink vertex is good or bad. Good output from said good sink vertex is connected to a corresponding good source vertex in the first duplicated bottom-up graph, and bad output from said good sink vertex is connected to a corresponding bad source vertex in the second duplicated bottom-up graph.

In another embodiment, the present invention provides a method for interconnecting neural nodes. The method comprises interconnecting a plurality of first nodes in a first set of nodes with a plurality of second nodes in a second set of nodes. The connected nodes are arranged in an interconnection lattice. A connected node in the second set is a union of at least two nodes in the first set, such that said connected node exchanges signals with said at least two nodes via the interconnection lattice. A node comprises one or more neural vertices interconnected via multiple directed edges arranged in an acyclic digraph. Each neural vertex comprises one or more neurons, and each edge comprises a signaling pathway in the interconnection lattice. Some acyclic digraphs are empty. Each node has a sensory or motor modality. Each directed edge interconnecting a sending vertex to a receiving vertex comprises multiple synaptic connections such that a neuron in the receiving vertex receives synaptic connections from a subset of neurons in the sending vertex.

Interconnecting nodes comprises interconnecting said nodes via bottom-up signaling pathways arranged in an acyclic bottom-up digraph in the interconnection lattice, and interconnecting said nodes via top-down signaling pathways arranged in an acyclic top-down digraph in the interconnection lattice. Each bottom-up signaling pathway includes one or more vertices and directed edges, and each top-down signaling pathway includes one or more vertices and directed edges. A sending vertex of a first node is interconnected to a receiving vertex of a second node only if the second node is a superset of the first node. Each vertex in the top-down digraph corresponds to a vertex in the bottom-up digraph. Each directed edge in the top-down digraph corresponds to a directed edge in the bottom-up digraph, such that information flows along said directed edge in the top-down digraph in a first direction, and information flows along said corresponding directed edge in the bottom-up digraph in a direction opposite of the first direction.

Vertices in the bottom-up digraph are interconnected to vertices in the top-down digraph using additional directed edges. In one example implementation, a sending vertex in the bottom-up digraph is interconnected to a receiving vertex in the top-down digraph if an intersection of the node comprising the sending vertex and the node comprising the receiving vertex is empty. In another example implementation, a sending vertex in the bottom-up digraph is interconnected to a receiving vertex in the top-down digraph if the sending vertex and the receiving vertex correspond to one another.

In yet another example implementation, vertices that do not have incoming directed edges are designated as source vertices, and vertices that do not have outgoing directed edges are designated as sink vertices. A source vertex in the bottom-up digraph is configured to receive sensory input, and a sink vertex in the top-down digraph is configured to generate motor output. For each sink vertex in the bottom-up digraph, said sink vertex in the bottom-up digraph is interconnected to a vertex in the top-down digraph using at least one outgoing directed edge from said sink vertex. For each source vertex in the top-down digraph, a vertex in the bottom-up digraph is interconnected to said source vertex in the top-down digraph using at least one incoming directed edge to said source vertex.

In yet another example implementation, for each vertex, a first set and a second set of neurons in said vertex is designated as good neurons and bad neurons, respectively, such that the number of good neurons in said vertex is the same as the number of bad neurons in said vertex. Each good neuron in a vertex in the top-down digraph corresponds to a bad neuron in said vertex, a good neuron in a corresponding vertex in the bottom-down digraph, and a bad neuron in the corresponding vertex in the bottom-down digraph. Vertices that do not have incoming directed edges are designated as source vertices, and vertices that do not have outgoing directed edges are designated as sink vertices.

For each good neuron in a sink vertex in the top-down digraph, said good neuron is connected to an evaluation module. The evaluation module determines whether output from said good neuron is good or bad, such that good output from said good neuron is connected to a corresponding good neuron in a corresponding source vertex in the bottom-up digraph, and bad output from said good neuron is connected to a corresponding bad neuron in the corresponding source vertex in the bottom-up digraph.

In yet another embodiment, the present invention presents a signaling interconnect for neural nodes. The signaling interconnect comprises an interconnection lattice that interconnects a plurality of first nodes in a first set of nodes with a plurality of second nodes in a second set of nodes. The connected nodes are arranged in a lattice such that a connected node in the second set is a union of at least two nodes in the first set, and said connected node exchanges signals with said at least two nodes via the interconnection lattice. A node comprises one or more neural vertices interconnected via multiple directed edges arranged in an acyclic digraph, wherein each neural vertex comprises one or more neurons, and each edge comprises a signaling pathway in the interconnection lattice. Some acyclic digraphs are empty. Each node has a sensory or motor modality. Each directed edge interconnecting a sending vertex to a receiving vertex comprises multiple synaptic connections such that a neuron in the receiving vertex receives synaptic connections from a subset of neurons in the sending vertex.

The interconnection lattice interconnects said nodes via bottom-up signaling pathways arranged in an acyclic bottom-up digraph in the interconnection lattice, and the interconnection lattice further interconnects said nodes via top-down signaling pathways arranged in an acyclic top-down digraph in the interconnection lattice. Each bottom-up signaling pathway includes one or more vertices and directed edges, and each top-down signaling pathway includes one or more vertices and directed edges. A sending vertex of a first node is interconnected to a receiving vertex of a second node only if the second node is a superset of the first node. Each vertex in the top-down digraph corresponds to a vertex in the bottom-up digraph. Each directed edge in the top-down digraph corresponds to a directed edge in the bottom-up digraph, such that information flows along said directed edge in the top-down digraph in a first direction, and information flows along said corresponding directed edge in the bottom-up digraph in a direction opposite of the first direction. The signaling interconnect further comprises additional directed edges that interconnect vertices in the bottom-up digraph to vertices in the top-down digraph.

In yet another embodiment, the present invention provides a computer program product on a computer-readable medium for interconnecting neural nodes arranged in an interconnection lattice. A connected node exchanges signals with at least two other nodes via the interconnection lattice, wherein a node comprises one or more neural vertices interconnected via multiple directed edges arranged in an acyclic digraph. Each neural vertex comprises one or more neurons, and each edge comprises a signaling pathway in the interconnection lattice. The computer program product comprises instructions which when executed on a computer cause the computer to perform operations including connecting said nodes via bottom-up signaling pathways arranged in an acyclic bottom-up digraph in the interconnection lattice, and connecting said nodes via top-down signaling pathways arranged in an acyclic top-down digraph in the interconnection lattice. Each bottom-up signaling pathway includes one or more vertices and directed edges, and each top-down signaling pathway includes one or more vertices and directed edges. Each vertex in the top-down digraph corresponds to a vertex in the bottom-up digraph. Each directed edge in the top-down digraph corresponds to a directed edge in the bottom-up digraph, such that information flows along said directed edge in the top-down digraph in a first direction, and information flows along said corresponding directed edge in the bottom-up digraph in a direction opposite of the first direction. Vertices in the bottom-up digraph are interconnected to vertices in the top-down digraph using additional directed edges.

Embodiments of the present invention provide a computational architecture representing a number of sensory and motor (“sensory-motor”) modalities of a neural network, wherein each modality comprises an input and an output neuron population such that each input neuron corresponds to exactly one output neuron. The input population of each modality drives perception neurons along a number of bottom-up pathways and the output population is driven by action neurons along a number of top-down pathways, where each bottom-up pathway has a reciprocal top-down pathway and each perception neuron has a corresponding action neuron. Bottom-up pathways from several modalities can interact along an underlying lattice and can influence top-down pathways of other modalities. Each perception neuron is trained via the output of the corresponding action neuron in the reciprocal top-down pathway, and, conversely, each action neuron is trained via the output of the corresponding perception neuron. The entire system maintains stable activity levels via self-tuning and gain control. The resulting computational architecture is online, local, parallel, distributed, can deal with massive influx of data, can be adapted to work with spiking neurons, can extract deep features, and can solve problems of unsupervised learning, supervised learning, and reinforcement learning within a single universal substrate of adaptation.

The term digital neuron as used herein represents an architecture configured to simulate a biological neuron. A digital neuron creates connections between processing elements that are roughly functionally equivalent to neurons of a biological brain. As such, a neuromorphic and synaptronic computation comprising digital neurons according to embodiments of the invention may include various electronic circuits that are modeled on biological neurons. Further, a neuromorphic and synaptronic computation comprising digital neurons according to embodiments of the invention may include various processing elements (including computer simulations) that are modeled on biological neurons. Although certain illustrative embodiments of the invention are described herein using digital neurons comprising electronic circuits, the present invention is not limited to electronic circuits. A neuromorphic and synaptronic computation according to embodiments of the invention can be implemented as a neuromorphic and synaptronic architecture comprising circuitry, and additionally as a computer simulation. Indeed, embodiments of the invention can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment containing both hardware and software elements.

An external two-way communication environment may supply sensory inputs and consume motor outputs. Digital neurons implemented using complementary metaloxidesemiconductor (CMOS) logic gates receive spike inputs and integrate them. The neurons include comparator circuits that generate spikes when the integrated input exceeds a threshold. In one embodiment, weighted synaptic connections are implemented using transposable 1-bit static random-access memory (SRAM) cells, wherein each neuron can be an excitatory or inhibitory neuron. Each learning rule on each neuron axon and dendrite are reconfigurable.

FIG. 1 illustrates an example structure of a neural module 20, in accordance with an embodiment of the invention. Each neural module 20 comprises multiple neurons 1. For instance, the neural module 20 comprises four neurons, neurons v^(g)⇑, v^(g)⇓, v^(b)⇑, and v^(b)⇓. Each neuron 1 of a neural module 20 is classified as one of the following four types of neurons: a perception neuron in a learning, bottom-up pathway; an action neuron in a learning, top-down pathway; a perception neuron in an unlearning, bottom-up pathway; and, an action neuron in an unlearning, top-down pathway. In this specification, a neuron in a learning pathway is generally referred to as a good neuron. A neuron in an unlearning pathway is generally referred to as a bad neuron.

In FIG. 1, the neuron v^(g)⇑ is a good perception neuron in a learning, bottom-up pathway, the neuron v^(g)⇓ is a good action neuron in a learning, top-down pathway, the neuron v^(b)⇑ is a bad perception neuron in an unlearning, bottom-up pathway, and the neuron v^(b)⇓ is a bad neuron in an unlearning, top-down pathway.

FIG. 2 illustrates a neural network circuit 30, in accordance with an embodiment of the invention. The neural network circuit 30 comprises a plurality of neural modules 20, such as neural modules N1, N2, N3, N4, N5, and N6. Each neural module 20 comprises multiple neurons 1 (FIG. 1). The neural network circuit 30 further comprises a plurality of synapses (i.e., synaptic connections) 5 interconnecting the neural modules 20. Each synapse 5 interconnects a first neural module 20 to a second neural module 20, thereby allowing bi-directional information flow between the neurons 1 in the first neural module 20 and the neurons 1 in the second neural module 20.

The neural network circuit 30 may be used to implement a neural network circuit combining multiple sensory and motor modalities into one computational architecture. Sensory and motor modalities represent biological sensors and actuators (e.g., eyes, ears, hands), as well as non-biological sensors and actuators (e.g., thermal sensors).

For instance, the neural modules 20 of the neural network circuit 30 may be organized into multiple neural module sets 31, such as a first neural module set 31 comprising the neural modules N1 and N2, a second neural module set 31 comprising the neural modules N3 and N4, and a third neural module set 31 comprising the neural modules N5 and N6. Each neural module set 31 represents a different sensory or motor modality (e.g., vision, auditory, etc.).

Each neural module set 31 may cross-associate with other neural module sets 31. Specifically, a neural module 20 in one neural module set 31 may be interconnected to another neural module 20 in another neural module set 31. For instance, a synapse 5 interconnects the neural module N2 in the first neural module set 31 to the neural module N4 in the second neural module set 31. Another synapse 5 interconnects the neural module N2 in the first neural module set 31 to the neural module N6 in the third neural module set 31. As such, the first neural module set 31 cross-associates with both the second and third neural module sets 31.

A neural network may be represented as an acyclic directed graph (“digraph”) comprising a set of vertices (i.e., nodes) and a set of directed edges. Each directed edge interconnects a sending vertex to a receiving vertex. In this specification, let G′=(V′, E′) generally denote an acyclic digraph comprising a set of vertices V′ and a set of directed edges E′. Let sin k(G′) denote a subset of vertices in V′ that have no outgoing directed edges (i.e., do not send out outgoing connections). Let source(G′) denote a subset of vertices in V′ that have no incoming directed edges (i.e., do not receive incoming connections).

Neural modules from several sensory and motor modalities can interact along an underlying interconnection lattice. Let L generally denote an interconnection lattice that cross-associates multiple sensory and motor modalities. Let S₁, S₂, . . . , S_(m) generally denote the sensory and motor modalities, where m is the total number of sensory or motor modalities that the lattice L cross-associates. Let S generally denote a modality of the lattice L.

Further, let S′ generally denote a set. For any set S′, let |S′| denote its cardinality. L comprises non-empty subsets of F≡{S₁, S₂, . . . , S_(m)}. Sets {S₁}, {S₂}, . . . , {S_(m)} denote atomic sets of the modalities S₁, S₂, . . . , S_(m), respectively. Let A={{S₁}, {S₂}, . . . , {S_(m)}}, where A denotes the set of all atomic sets.

FIGS. 3-6 illustrate the stages of setting up an example interconnection lattice 100, in accordance with an embodiment of the invention.

FIG. 3 illustrates nodes arranged in an interconnection lattice 100, in accordance with an embodiment of the invention. The lattice 100 cross-associates multiple sensory and motor modalities, such as modalities S₁, S₂, and S₃. The lattice 100 comprises a first set of nodes comprising multiple nodes 2, and a second set of nodes comprising multiple nodes 3. Each node 2 represents an atomic set that has a sensory or motor modality. Specifically, a first node 2 represents an atomic set {S₁} having the modality S₁, a second node 2 represents an atomic set {S₂} having the modality S₂, and a third node 2 represents an atomic set {S₃} having the modality S₃.

Each node 3 represents a union of two or more nodes 2 (i.e., two or more atomic sets). Specifically, a first node 3 represents a superset {S₁,S₂} that is the union of atomic sets {S₁} and {S₂}. A second node 3 represents a superset {S₁,S₃} that is the union of atomic sets {S₁} and {S₃}. A third node 3 represents a superset {S₂,S₃} that is the union of atomic sets {S₂} and {S₃}. Finally, a fourth node 3 represents a superset {S₁,S₂,S₃} that is the union of atomic sets {S₁}, {S₂}, and {S₃}.

Each modality S of the lattice L may be represented by an acyclic digraph G^(S). Let acyclic digraph G^(S)=(V^(S), E^(S)), where V^(S) denotes the set of vertices in G^(S), and E^(S) denotes the set of directed edges in G^(S). Let sink (G^(S)) denote a subset of vertices in V^(S) that have no outgoing edges (i.e., outgoing connections). Let source (G^(S)) denote a subset of vertices in V^(S) that have no incoming edges (i.e., incoming connections).

If S∈A (i.e., set {S} is an atomic set), digraph G^(S) is non-empty and |source(G^(S))|=1. One of the vertices in V^(S) must be a source, and only one of the vertices in V^(S) can be a source. If S∉A (i.e., set {S} is not an atomic set), digraph G^(S) may be empty.

FIG. 4 illustrates acyclic digraphs 4 for each node 2, 3 in the lattice 100, in accordance with an embodiment of the invention. Each node 2, 3 comprises multiple vertices interconnected via multiple directed edges 10. The vertices and edges 10 of each node 2, 3 are arranged in an acyclic digraph 4.

Specifically, the first node 2 representing the atomic set {S₁} (FIG. 3) provides an acyclic digraph G^({S}) ₁ in FIG. 4. The digraph G^({S}) ₁ is non-empty, comprising vertices V₁ ^({S}) ₁ and V₂ ^({S}) ₁. The digraph G^({S}) ₁ further comprises a directed edge 10 interconnecting the vertex V₁ ^({S}) ₁ to the vertex V₂ ^({S}) ₁. The vertex V₁ ^({S}) ₁ in the digraph G^({S}) ₁ is a source vertex.

The second node 2 representing the atomic set {S₂} (FIG. 3) provides an acyclic digraph G^({S}) ₂ in FIG. 4. The digraph G^({S}) ₂ is non-empty, comprising vertices V₁ ^({S}) ₂, V₂ ^({S}) ₂, V₃ ^({S}) ₂, and V₄ ^({S}) ₂. The digraph G^({S}) ₂ further comprises multiple directed edges 10 interconnecting the vertices in the digraph G^({S}) ₂. Specifically, the vertex V₁ ^({S}) ₂ is interconnected to the vertex V₂ ^({S}) ₂, the vertex V₁ ^({S}) ₂ is interconnected to the vertex V₃ ^({S}) ₂, the vertex V₂ ^({S}) ₂ is interconnected to the vertex V₃ ^({S}) ₂, and the vertex V₃ ^({S}) ₂ is interconnected to the vertex V₄ ^({S}) ₂. The vertex V₁ ^({S}) ₂ in the digraph G^({S}) ₂ is a source vertex.

The third node 2 representing the atomic set {S₃} (FIG. 3) provides an acyclic digraph G^({S}) ₃ in FIG. 4. The digraph G^({S}) ₃ is non-empty, comprising vertices V₁ ^({S}) ₃, V₂ ^({S}) ₃, and V₃ ^({S}) ₃. The digraph G^({S}) ₃ further comprises multiple directed edges 10 interconnecting the vertices in the digraph G^({S}) ₃. Specifically, the vertex V₁ ^({S}) ₃ is interconnected to the vertex V₂ ^({S}) ₃, and the vertex V₁ ^({S}) ₃ is interconnected to the vertex V₃ ^({S}) ₃. The vertex V₁ ^({S}) ₃ in the digraph G^({S}) ₃ is a source vertex.

The first node 3 representing the atomic set {S₁,S₂} (FIG. 3) provides an acyclic digraph G^({S) ₁ ^(,S}) ₂ in FIG. 4. The digraph G^({S) ₁ ^(,S}) ₂ is a non-empty, comprising vertices V₁ ^({S) ₁ ^(,S}) ₂, V₂ ^({S) ₁ ^(,S}) ₂, and V₃ ^({S) ₁ ^(,S}) ₂. The digraph G^({S) ₁ ^(,S}) ₂ further comprises multiple directed edges 10 interconnecting the vertices in the digraph G^({S) ₁ ^(,S}) ₂. Specifically, the vertex V₁ ^({S) ₁ ^(,S}) ₂ is interconnected to the vertex V₃ ^({S) ₁ ^(,S}) ₂, and the vertex V₂ ^({S) ₁ ^(,S}) ₂ is interconnected to the vertex V₃ ^({S) ₁ ^(,S}) ₂.

The second node 3 representing the atomic set {S₁,S₃} (FIG. 3) provides an acyclic digraph G^({S) ₁ ^(,S}) ₃ in FIG. 4. The digraph G^({S) ₁ ^(,S}) ₃ is empty.

The third node 3 representing the atomic set {S₂,S₃} (FIG. 3) provides an acyclic digraph G^({S) ₂ ^(,S}) ₃ in FIG. 4. The digraph G^({S) ₂ ^(,S}) ₃ is a non-empty, comprising only the vertex V₁ ^({S) ₂ ^(,S}) ₃.

Each digraph G^(S) may be arranged in an acyclic bottom-up digraph, wherein the bottom-up digraph comprises the vertices and edges of each digraph G^(S). Let G^(⇑) generally denote a bottom-up digraph. G^(⇑)=(V^(⇑), E^(⇑)), where V^(⇑) comprises all vertices ∪_(S∈L)V^(S), and E^(⇑) comprises all edges ∪_(S∈L)E^(S). Source vertices in GI comprise only the source vertices in the acyclic digraphs corresponding to the atomic sets, that is source(G^(⇑))=∪_(S∈A)source(G^(S)).

FIG. 5 illustrates a bottom-up digraph 200 of the lattice 100, in accordance with an embodiment of the invention. The lattice 100 further provides said acyclic bottom-up digraph 200 including all vertices and directed edges 10 of the digraphs G^({S}) ₁, G^({S}) ₂, G^({S}) ₃, G^({S) ₁ ^(,S}) ₂, G^({S) ₁ ^(, S}) ₃, G^({S) ₂ ^(,S}) ₃, and G^({S) ₁ ^(,S) ₂ ^(,S}) ₃. Specifically, the bottom-up digraph 200 includes the vertices V₁ ^({S}) ₁, V₂ ^({S}) ₁, V₁ ^({S}) ₂, V₂ ^({S}) ₂, V₃ ^({S}) ₂, V₄ ^({S}) ₂, V₁ ^({S}) ₃, V₂ ^({S}) ₃, V₃ ^({S}) ₃, V₁ ^({S) ₁ ^(,S}) ₂, V₂ ^({S) ₁ ^(,S}) ₂, V₃ ^({S) ₁ ^(,S}) ₂, and V₁ ^({S) ₂ ^(,S}) ₃, and all directed edges 10 of the digraphs G^({S}) ₁, G^({S}) ₂, G^({S}) ₃, G^({S) ₁ ^(,S}) ₂, G^({S) ₁ ^(,S}) ₂, G^({S) ₂ ^(,S}) ₃, and G^({S) ₁ ^(,S) ₂ ^(,S}) ₃.

The set of directed edges E^(⇑) for the bottom-up digraph G^(⇑) may contain additional directed edges 10. Three constraints are provided below to ensure that G^(⇑) is an acyclic digraph.

The first constraint is as follows: For S, T∈L, a directed edge from a vertex V₁ ^(S) in G^(S) to another vertex V_(j) ^(T) in G^(T) can exist only if the set {S} is a strict subset of the set {T}.

Referring back to FIG. 5, the bottom-up digraph 200 further comprises additional directed edges 10. Each directed edge 10 interconnects a vertex of a first node with a vertex of a second node, wherein the set represented by the first node is a subset of the set represented by the second node.

For example, the sets {S₁} and {S₂} are subsets of the set {S₁,S₂}. A first directed edge 10 interconnects the vertex V₂ ^({S}) ₁ to the vertex V₁ ^({S) ₁ ^(,S}) ₂, a second directed edge 10 interconnects the vertex V₁ ^({S}) ₁ to the vertex V₂ ^({S) ₁ ^(,S}) ₂, a third directed edge 10 interconnects the vertex V₃ ^({S}) ₂ to the vertex V₁ ^({S) ₁ ^(,S}) ₂, and a fourth directed edge 10 interconnects the vertex V₄ ^({S}) ₂ to the vertex V₂ ^({S) ₁ ^(,S}) ₂. Similarly, the sets {S₂} and {S₃} are subsets of the set {S₂,S₃}. A fifth directed edge 10 interconnects the vertex V₃ ^({S}) ₂ to the vertex V₁ ^({S) ₂ ^(,S}) ₃, a sixth directed edge 10 interconnects the vertex V₂ ^({S}) ₃ to the vertex V₁ ^({S) ₂ ^(,S}) ₃, and a seventh directed edge 10 interconnects the vertex V₃ ^({S}) ₃ to the vertex V₁ ^({S) ₂ ^(,S}) ₃.

The second constraint is as follows: The only source vertices in G^(⇑) are the source vertices in the acyclic digraphs corresponding to the atomic sets, that is source(G^(⇑))=∪_(S∈A)source(G^(S)). For some S∈L, let V_(s) ^(S) denote a vertex in V^(S). Let S_(j) denote an atomic set that is a subset of S, and let S₁ denote an atomic set that is not a subset of S. For every vertex V_(s) ^(S) that is not a source vertex, a path from a source vertex to V_(s) ^(S) exists. There, however, can be no path from a source vertex in every atomic set S₁ to V_(s) ^(S).

Referring back to FIG. 5, each set {S₁}, {S₂}, and {S₃} is an atomic set with the source vertex V₁ ^({S}) ₁, V₁ ^({S}) ₂, and V₁ ^({S}) ₃, respectively. Vertices V₁ ^({S}) ₁, V₁ ^({S}) ₂, and V₁ ^({S}) ₃ are the only vertices in the bottom-up digraph 200 that do not have incoming directed edges. All other vertices in the bottom-up digraph 200 have incoming directed edges. As such, the source vertices for the bottom-up digraph 200 comprise only the vertices V₁ ^({S}) ₁, V₁ ^({S}) ₂, and V₁ ^({S}) ₃. As illustrated in FIG. 5, a path exists from each source vertex V₁ ^({S}) ₁, V₁ ^({S}) ₂, and V₁ ^({S}) ₃ to the non-source vertices. For example, the first directed edge 10 in G^({S}) ₁ forms a path between the source vertex V₁ ^({S}) ₁ and the vertex V₂ ^({S}) ₁.

The third constraint is as follows: A vertex can be a sink in G^(⇑) only if it is in G^(F). Alternatively, a vertex can be a sink in G^(⇑) only if it is in G^(S) such that for every strict superset T of set S (i.e., T⊃S) where sets S, T∈L, G^(T) is an empty acyclic digraph. Further, there must be at least one outgoing directed edge from every vertex in G^(S) that is not a sink to some vertex in G^(T), where T⊃S.

Referring back to FIG. 5, vertices V₃ ^({S) ₁ ^(,S}) ₂ and V₁ ^({S) ₂ ^(,S}) ₃ are the only vertices in the bottom-up digraph 200 that do not have outgoing directed edges. All the other vertices in the bottom-up digraph 200 have outgoing directed edges. As such, the sink vertices for the bottom-up digraph 200 comprise only the vertices V₃ ^({S) ₁ ^(,S}) ₂ and V₁ ^({S) ₂ ^(,S}) ₃. As illustrated in FIG. 5, a path exists from each non-sink vertex in S to a sink vertex in T, where T⊃S. For example, the fifth directed edge 10 forms a path between the non-sink vertex V₃ ^({S}) ₂ and the vertex V₁ ^({S) ₂ ^(,S}) ₃ where {S₂, S₃}⊃{S₂}.

For every S∈L, let U^(S) be a set such that every element u∈U^(S) corresponds to one and exactly one element in V^(S), and vice versa. Thus, for every S∈L, there is a bijection between U^(S) and V^(S). Let u≡P^(S)(v) generally denote the bijection.

For every G^(S), there is a corresponding acyclic digraph H^(S)=(U^(S), D^(S)) where, for u₁=P^(S)(v₁) and u₂=P^(S)(v₂), there is an edge from u₁ to u₂ in D^(S) if and only if there is an edge from v₂ to v₁ in E^(S). Further, the bottom-up digraph G^(⇑) has a corresponding top-down digraph H^(⇓)=(U^(⇓), E^(⇓)), where U^(⇓) comprises all vertices ∪_(S∈L)U^(S). As stated above, there is a bijection between U^(S) and V^(S) for every S∈L. Accordingly, there is a natural one-to-one correspondence between elements of U^(⇓) and V^(⇓). For every v∈V^(⇑), let P(v) denote its corresponding element in U^(⇓). For u₁=P(v₁) and u₂=P(v₂), there is an edge from u₁ to u₂ in E^(⇓) if and only if there is an edge from v₂ to v₁ in E^(⇑). For every v∈G^(⇑) that is a source, the bijection u=P(v) in H^(⇓) is a sink. For every v∈G^(⇑) that is a sink, the bijection u=P(v) in H^(⇓) is a source.

Therefore, each vertex in the top-down digraph H^(⇓) corresponds to a vertex in the bottom-up digraph G^(⇑), and each directed edge 10 in the top-down digraph H^(⇓) corresponds to a directed edge 10 in the bottom-up digraph G^(⇑). Information flows along a directed edge 10 in the top-down digraph H^(⇓) in a first direction, and information flows along a corresponding directed edge 10 in the bottom-up digraph in a direction opposite of the first direction.

FIG. 6 illustrates the lattice 100 including a top-down digraph 400 corresponding to the bottom-up digraph 200, in accordance with an embodiment of the invention. The top-down digraph 400 comprises acyclic digraphs H^({S}) ₁, H^({S}) ₂, H^({S}) ₃, H^({S) ₁ ^(,S}) ₂, H^({S) ₁ ^(,S}) ₃, and H^({S) ₂ ^(,S}) ₃ corresponding to the acyclic digraphs G^({S}) ₁, G^({S}) ₂, G^({S}) ₃, G^({S) ₁ ^(,S}) ₂, G^({S) ₁ ^(,S}) ₃, and G^({S) ₂ ^(,S}) ₃ in the bottom-up digraph 200, respectively.

Specifically, the digraph H^({S}) ₁ comprises vertices U₁ ^({S}) ₁ and U₂ ^({S}) ₁ corresponding to the vertices V₁ ^({S}) ₁ and V₂ ^({S}) ₁ in the digraph G^({S}) ₁, respectively. The vertex V₁ ^({S}) ₁ is a source, whereas the vertex U₁ ^({S}) ₁, the bijection of V₁ ^({S}) ₁, is a sink. For every directed edge 10 in the digraph G^({S}) ₁, there is a reciprocal directed edge 10 in the digraph H^({S}) ₁. For example, a directed edge 10 interconnecting the vertex U₂ ^({S}) ₁ to the vertex U₁ ^({S}) ₁ in the digraph H^({S}) ₁ corresponds to the directed edge 10 interconnecting the vertex V₁ ^({S}) ₁ to in the vertex V₂ ^({S}) ₁ in the digraph G^({S}) ₁.

The digraph H^({S}) ₂ comprises vertices U₁ ^({S}) ₂, U₂ ^({S}) ₂, U₃ ^({S}) ₂, and U₄ ^({S}) ₂ corresponding to the vertices V₁ ^({S}) ₂, V₂ ^({S}) ₂, V₃ ^({S}) ₂, and V₄ ^({S}) ₂ in the digraph G^({S}) ₂, respectively. The vertex V₁ ^({S}) ₂ is a source, whereas the vertex U₁ ^({S}) ₂, the bijection of V₁ ^({S}) ₂, is a sink. For every directed edge 10 in the digraph G^({S}) ₂, there is a reciprocal directed edge 10 in the digraph H^({S}) ₂. For example, a directed edge 10 interconnecting the vertex U₂ ^({S}) ₂ to the vertex U₁ ^({S}) ₂ in the digraph H^({S}) ₂ corresponds to the directed edge 10 interconnecting the vertex V₁ ^({S}) ₂ to the vertex V₂ ^({S}) ₂ in the digraph G^({S}) ₂.

The digraph H^({S}) ₃ comprises vertices U₁ ^({S}) ₃, U₂ ^({S}) ₃, and U₃ ^({S}) ₃ corresponding to the vertices V₁ ^({S}) ₃, V₂ ^({S}) ₃, and V₃ ^({S}) ₃ in the digraph G^({S}) ₃, respectively. The vertex V₁ ^({S}) ₃ is a source, whereas the vertex U₁ ^({S}) ₃, the bijection of V₁ ^({S}) ₃, is a sink. For every directed edge 10 in the digraph G^({S}) ₃, there is a reciprocal directed edge 10 in the digraph H^({S}) ₃. For example, a directed edge 10 interconnecting the vertex U₂ ^({S}) ₃ to the vertex U₁ ^({S}) ₃ in the digraph H^({S}) ₃ corresponds to the directed edge 10 interconnecting the vertex V₁ ^({S}) ₃ to the vertex V₂ ^({S}) ₃ in the digraph G^({S}) ₃.

The digraph H^({S) ₁ ^(,S}) ₂ comprises vertices U₁ ^({S) ₁ ^(,S}) ₂, U₂ ^({S) ₁ ^(,S}) ₂, and U₃ ^({S) ₁ ^(,S}) ₂ corresponding to the vertices V₁ ^({S) ₁ ^(,S}) ₂, V₂ ^({S) ₁ ^(,S}) ₂, and V₃ ^({S) ₁ ^(,S}) ₂ in the digraph G^({S) ₁ ^(,S}) ₂, respectively. The vertex V₃ ^({S) ₁ ^(,S}) ₂ is a sink, whereas the vertex U₃ ^({S) ₁ ^(,S}) ₂, the bijection of V₃ ^({S) ₁ ^(,S}) ₂, is a source. For every directed edge 10 in the digraph G^({S) ₁ ^(,S}) ₂, there is a reciprocal directed edge 10 in the digraph H^({S) ₁ ^(,S}) ₂. For example, a directed edge 10 interconnecting the vertex U₃ ^({S) ₁ ^(,S}) ₂ to the vertex U₁ ^({S) ₁ ^(,S}) ₂ in the digraph H^({S) ₁ ^(,S}) ₂ corresponds to the directed edge 10 interconnecting the vertex V₁ ^({S) ₁ ^(,S}) ₂ to the vertex V₃ ^({S) ₁ ^(,S}) ₂ in the digraph G^({S) ₁ ^(,S}) ₂.

Like the digraph G^({S) ₁ ^(,S}) ₃, the digraph H^({S) ₁ ^(,S}) ₃ is an empty digraph.

The digraph H^({S) ₂ ^(,S}) ₃ comprises a vertex U₁ ^({S) ₂ ^(,S}) ₃ corresponding to the vertex V₁ ^({S) ₂ ^(,S}) ₃ in the digraph G^({S) ₂ ^(,S}) ₃, respectively. The vertex V₁ ^({S) ₂ ^(,S}) ₃ is a sink, whereas the vertex U₁ ^({S) ₂ ^(,S}) ₃, the bijection of V₁ ^({S) ₂ ^(,S}) ₃, is a source.

The top-down digraph 400 further comprises additional directed edges 10. Specifically, for every directed edge 10 in the bottom-up digraph 200, there is a reciprocal directed edge 10 in the top-down digraph 400. For example, a directed edge 10 interconnecting the vertex U₁ ^({S) ₁ ^(,S}) ₂ in the digraph H^({S) ₁ ^(,S}) ₂ to the vertex U₂ ^({S}) ₁ in the digraph H^({S}) ₁ corresponds to the directed edge 10 interconnecting the vertex V₂ ^({S) ₁ ^(}) in the digraph G^({S}) ₁ to the vertex V₁ ^({S) ₁ ^(,S}) ₂ in the digraph G^({S) ₁ ^(,S}) ₂.

Vertices in the bottom-up digraph G^(⇑) are interconnected via the directed edges 10 to form bottom-up signaling pathways along which information flows in a first direction. Vertices in the top-down digraph H^(⇓) are interconnected via the directed edges 10 to form top-down signaling pathways along which information flows in a direction opposite to the first direction. The bottom-up digraph G^(⇑) and the top-down digraph H^(⇓) may be connectable to provide a combined acyclic perception-action G=(V, E), where V=V^(⇓)∪U^(⇓) and E contains all the directed edges E^(⇑)∪E^(⇓).

FIG. 7 illustrates the lattice 100 including a combined perception-action graph 500, in accordance with an embodiment of the invention. The perception-action graph 500 comprises all vertices in the bottom-up digraph 200 and the top-down digraph 400. The perception-action graph 500 further comprises all directed edges 10 in the bottom-up digraph 200 and the top-down digraph 400.

The set of edges E of the perception-action graph G may contain additional directed edges 10. Three constraints are provided below to ensure that G is an acyclic digraph, and that for every directed edge 10 interconnecting a vertex v to a vertex u, there is a reciprocal directed edge interconnecting a vertex P(u) to a vertex P(v), where the vertices v, u, P(v), P(u)∈G.

The first constraint is as follows: Every vertex in sin k(G^(⇑)) must have an outgoing directed edge, and every vertex in source(H^(⇓)) must have an incoming directed edge. Let source(G)=source(G^(⇑)), and let sin k(G)=sin k(H^(⇓)).

As described above, the sink vertices in the bottom-up digraph 200 are the vertices V₃ ^({S) ₁ ^(,S}) ₂ and V₁ ^({S) ₂ ^(,S}) ₃, and the source vertices in the top-down digraph 400 are the vertices U₃ ^({S) ₁ ^(, S}) ₂ and U₁ ^({S) ₂ ^(,S}) ₃. Referring back to FIG. 7, each vertex V₃ ^({S) ₁ ^(,S}) ₂ and V₁ ^({S) ₂ ^(,S}) ₃ in the bottom-up digraph 200 now has an outgoing directed edge 10. Specifically, a directed edge 10 interconnects the vertex V₃ ^({S) ₁ ^(,S}) ₂ to the vertex U₂ ^({S}) ₃, and a directed edge 10 interconnects the vertex V₁ ^({S) ₂ ^(,S}) ₃ to the vertex U₂ ^({S}) ₁. Each vertex U₃ ^({S) ₁ ^(,S}) ₂ and U₁ ^({S) ₂ ^(,S}) ₃ in the top-down digraph 400 now has an incoming directed edge 10. Specifically, a directed edge 10 interconnects the vertex V₂ ^({S}) ₃ to the vertex U₃ ^({S) ₁ ^(,S}) ₂, and a directed edge 10 interconnects the vertex V₂ ^({S}) ₁ to the vertex U₁ ^({S) ₂ ^(,S}) ₃.

The source vertices in the perception-action graph 500 are the vertices V₁ ^({S}) ₁, V₁ ^({S}) ₂, and V₁ ^({S}) ₃. The sink vertices in the perception-action graph 500 are the vertices U₁ ^({S}) ₁, U₁ ^({S}) ₂, and U₁ ^({S}) ₃.

The second constraint is as follows: For a vertex v∈V^(S), where V^(S)⊂V^(⇑), and for a vertex u∈U^(T), where U^(T)⊂V^(⇓), v and u are connectable if S∩T=0. If v and u are connectable, then E may contain a pair of directed edges 10 from v to u and from P(v) to P⁻¹(u). For example, referring back to FIG. 7, P(V₂ ^({S}) ₁) and P⁻¹(U₁ ^({S) ₂ ^(,S}) ₃) are the vertices U₂ ^({S}) ₁ and V₁ ^({S) ₂ ^(,S}) ₃, respectively. The directed edge 10 interconnecting the vertex V₁ ^({S) ₂ ^(,S}) ₃ to the vertex U₂ ^({S}) ₁ has a reciprocal directed edge 10 interconnecting the vertex V₂ ^({S}) ₁ to the vertex U₁ ^({S) ₂ ^(,S}) ₃. Similarly, P(V₃ ^({S) ₁ ^(,S}) ₂) and P⁻¹(U₂ ^({S}) ₃) are the vertices U₃ ^({S) ₁ ^(,S}) ₂ and V₂ ^({S}) ₃, respectively. The directed edge 10 interconnecting the vertex V₃ ^({S) ₁ ^(,S}) ₂ to the vertex U₂ ^({S}) ₃ has a reciprocal directed edge 10 interconnecting the vertex V₂ ^({S}) ₃ to the vertex U₃ ^({S) ₁ ^(,S}) ₂. This second constraint ensures that information arising from a source vertex never feedbacks into itself. Thus, for prediction purposes, the prediction of each modality can be based other modalities but not itself.

In one embodiment, the third constraint is as follows: To enable estimation (i.e., auto-association), a vertex v∈V^(S) is equated to a vertex P(V)∈U^(S), where V^(S)⊂V^(⇑), and U^(S)⊂U^(⇓).

FIG. 8 illustrates the lattice 100 including the combined perception-action graph 500, in accordance with another embodiment of the invention. To equate the vertex V₃ ^({S) ₁ ^(,S}) ₂ to the vertex U₃ ^({S) ₁ ^(,S}) ₂ (i.e., P(V₃ ^({S) ₁ ^(,S}) ₂)), output of the vertex V₃ ^({S) ₁ ^(,S}) ₂ is copied to the vertex U₃ ^({S) ₁ ^(,S}) ₂. Similarly, to equate the vertex V₁ ^({S) ₂ ^(,S}) ₃ to the vertex U₁ ^({S) ₂ ^(,S}) ₃ (i.e., P(V₁ ^({S) ₂ ^(,S}) ₃)), output of the vertex V₁ ^({S) ₂ ^(,S}) ₃ is copied to the vertex U₁ ^({S) ₂ ^(,S}) ₃.

In another embodiment, the third constraint is as follows: A vertex v∈V^(S) is connectable to vertex u∈U^(T), where V^(S)⊂V^(⇑), U^(T)⊂V^(⇓), and S=T. If v and u are connectable, then E may contain a pair of directed edges from v to u and from P(v) to P⁻¹(u).

FIG. 9 illustrates the bijection between vertices, in accordance with an embodiment of the invention. As described above, for every directed edge interconnecting a vertex v to a vertex u, there is a reciprocal directed edge interconnecting a vertex P(u) to a vertex P(v), where the vertices v, u, P(v), P(u)∈G.

Using the perception-action graph G described above, embodiments of a neural network substrate (“neural network”) suitable for supervised and unsupervised learning are now disclosed herein below. Every vertex v∈V^(⇑) (i.e., a vertex in the bottom-up digraph G^(⇑)) comprises a neuron population of perception neurons generally denoted as N(v). Every vertex P(v)∈V^(⇑) (i.e., a vertex in the top-down digraph H^(⇑)) comprises another neuron population of action neurons generally denoted as N(P(v)). Each directed edge 10 interconnecting a sending vertex to a receiving vertex comprises multiple synaptic connections 5 such that a neuron in a neuron population corresponding to the receiving vertex receives synaptic connections from a subset of neurons in a neuron population corresponding to the second vertex.

FIG. 10 illustrates neuron populations of vertices, in accordance with an embodiment of the invention. For any vertex v∈V^(⇑), the vertex v comprises a neuron population including multiple neurons 1, wherein the neurons 1 are perception neurons. The bijection of v, that is P(v)∈V^(⇓), similarly comprises another neuron population including multiple neurons 1, wherein the neurons 1 are action neurons. The total number of neurons 1 in the vertex v is the same as the total number of neurons in the vertex P(v). Each neuron in the vertex v corresponds to exactly one neuron in the vertex P(v).

FIG. 11 illustrates an example of synaptic connections 5 between neuron populations, in accordance with an embodiment of the invention. For a directed edge 10 (FIG. 9) interconnecting a vertex v in G to a vertex u in G, every neuron 1 in the vertex u receives some synaptic connections 5 from a set of neurons 1 in the vertex v. Each synaptic connection 5 has a plastic, adaptive weight.

In one embodiment, every neuron 1 in the vertex u receives synaptic connections 5 from every neuron 1 in the vertex v. In another embodiment, every neuron in the vertex u receives synaptic connections 5 from a subset of neurons in the vertex v. In yet another embodiment, every neuron in the vertex u receives connections from a random subset of neurons in the vertex v.

Similarly, for the reciprocal directed edge 10 (FIG. 9) interconnecting a vertex P(u) to a vertex P(v), every neuron in the vertex P(v) receives some synaptic connections 5 from a set of neurons 1 in the vertex P(u). The synaptic connections 5 between the vertex v and the vertex u need not be symmetric with the synaptic connections 5 between the vertex P(u) and the vertex P(v).

In a neural network suitable for supervised and unsupervised learning, weights of the synaptic connections 5 are first initialized. Activation then propagates in the neural network as follows: In every epoch (e.g., time step), training patterns are presented to neurons 1 in all or some source vertices. The neurons 1 in the source vertices are perception neurons. As source vertices are vertices at an input periphery of the neural network, the neurons 1 in the source vertices are designated as input neurons.

Other neurons 1 corresponding to non-source vertices then determine whether to emit a firing signal only after all the input neurons have determined whether to emit a firing signal. Activation is propagated through the neural network until all neurons 1 have fired. Since the neural network is acyclic, there can be no deadlock, and every neuron 1 will eventually fire.

In one embodiment, every neuron 1 is trained according to perceptron learning rules. Specifically, every neuron 1 has a target output. For every perception neuron 1 in a vertex v, the target output is simply the output of the corresponding action neuron 1 in the vertex P(v), and vice versa. In another embodiment, Winnow learning rules or its variants may be used for training the neurons 1.

FIG. 12 illustrates another example of synaptic connections 5 between neuron populations, in accordance with an embodiment of the invention. As described above, if there is a directed edge 10 (FIG. 9) interconnecting a vertex v in G to a vertex u in G, then every neuron in the vertex u receives some synaptic connections 5 from a set of neurons 1 in the vertex v. Unlike FIG. 10, the synaptic connections 5 between the vertex v and the vertex u are symmetric with the synaptic connections 5 between the vertex P(u) and the vertex P(v). For a synaptic connection 5 from a first neuron 1 in the vertex v to a second neuron 1 in the vertex u, there is a reciprocal synaptic connection 5 from a third neuron 1 in the vertex P(u) to a fourth neuron 1 in the vertex P(v), where the fourth neuron corresponds to the first neuron and the third neuron corresponds to the second neuron.

In one embodiment, each synaptic connection 5 has an adaptive, plastic weight. In another embodiment, the synaptic connection 5 interconnecting the first neuron to the second neuron has the same weight as the reciprocal synaptic connection 5 interconnecting the third neuron to the fourth neuron.

In one embodiment, the neurons 1 are spiking neurons. For spiking neurons, an example learning rule is described as follows: If a perception neuron n along a bottom-up pathway fires, a spike-timing dependent Hebbian learning function may be applied between the last firing time of the corresponding action neuron P(n) along a corresponding top-down pathway and the last firing times of pre-synaptic neurons to the neuron n (i.e., the neurons that send out outgoing synaptic connections 5 to the neuron n). Similarly, if an action neuron m along a top-down pathway fires, a spike-timing dependent Hebbian learning function may be applied between the last firing time of the corresponding perception neuron P⁻¹(m) along the corresponding bottom-up pathway and the respective last firing times of the pre-synaptic neurons to the neuron m (i.e., the neurons that send out outgoing synaptic connections 5 to the neuron m).

Other learning rules for the spiking neurons may also be used. In one embodiment, the weight of each synaptic connection 5 cannot be negative. In another embodiment, the weight of each synaptic connection 5 may be negative.

FIG. 13 illustrates another example of neuron populations, in accordance with an embodiment of the invention. In one embodiment, for every vertex v∈V in the perception-action graph G, vertices v^(g) and v^(b) are provided. Each vertex v^(g) comprises a neuron population comprising multiple neurons 1, wherein each neuron 1 is a good perception neuron. Each vertex v^(b) comprises another neuron population comprising multiple neurons 1, wherein each neuron 1 is a bad perception neuron. The total number of neurons 1 in the vertex v^(g) is the same as the total number of neurons in the vertex v^(b) such that each neuron in the vertex v^(g) corresponds to exactly one neuron in the vertex v^(g).

The bijection of v^(g), that is the vertex P(v^(g))∈V, comprises another neuron population comprising multiple neurons 1, wherein each neuron is a good action neuron. The bijection of v^(b), that is the vertex P(v^(b))∈V, comprises another neuron population comprising multiple neurons 1, wherein each neuron is a bad action neuron. The total number of neurons 1 in the vertex P(v^(g)) is the same as the total number of neurons in the vertex P(v^(b)) such that each neuron in the vertex P(v^(g)) corresponds to exactly one neuron in the vertex P(v^(g)). As such, there will be equal number of neurons 1 in each vertex v^(g), v^(b), P(v^(g)), and P(v^(b)).

FIG. 14 illustrates yet another example of synaptic connections 5 between neuron populations, in accordance with an embodiment of the invention. Let n and m generally denote a neuron 1 in the vertex v^(g) and a neuron 1 in the vertex u^(g), respectively. For every synaptic connection 5 with a weight w interconnecting a neuron n of the vertex v^(g) to a neuron m of the vertex u^(g), there is a synaptic connection 5 with the same weight w interconnecting a neuron corresponding to n in the vertex v^(b) to a neuron corresponding to m in the vertex u^(b). Further, there are reciprocal synaptic connections between the vertex P(u^(g)) and the vertex P(v^(g)) and the vertex P(u^(b)) and the vertex P(v^(b)). The reciprocal synaptic connections 5 have the same weight x.

FIG. 15 illustrates an example neural network 600, in accordance with an embodiment of the invention. There must be at least one sensory modality in a neural network. The neural network 600 utilizes the lattice 100 (FIG. 7) to interconnect the motor modality S₃ and the sensory modalities S₁ and S₂. Each vertex provides vertices v^(g) and v^(b) (FIG. 13) comprising a population of good neurons (G) and a population of bad neurons (B), respectively. For each source vertex in an acyclic digraph representing a sensory modality, good neurons in said source vertex receive sensory input for the sensory modality. As illustrated in FIG. 15, the good neurons in the source vertices V₁ ^({S}) ₁ and V₁ ^({S}) ₂ are configured to receive sensory input. For each sink vertex in an acyclic digraph representing a motor modality, good neurons in said sink vertex are configured to generate motor output. As illustrated in FIG. 15, the good neurons in the sink vertex U₁ ^({S}) ₃ are configured to generate motor output.

FIG. 16 illustrates the neural network 600 with an evaluation module 70, in accordance with an embodiment of the invention. In another embodiment, the neural network 600 further comprises said evaluation module 70. For each sink vertex in an acyclic digraph representing a motor modality, motor output of the good neurons in said sink vertex are forwarded to the evaluation module 70. As illustrated in FIG. 16, motor output of the good neurons in the sink vertex U₁ ^({S}) ₃ are forwarded to the evaluation module 70. In one example implementation, each motor modality has its own corresponding evaluation module 70. In another example implementation, the evaluation module 70 receives input from multiple motor modalities.

FIG. 17 illustrates the neural network 600 with the evaluation module 70, in accordance with an embodiment of the invention. The evaluation module 70 determines if the motor output received from the good neurons in the sink vertex is good or bad. If the motor output is good, the evaluation module 70 forwards the good motor output to the good neurons in the corresponding source vertex of the motor modality. If the motor output is bad, the evaluation module 70 forwards the bad motor output to the bad neurons in the corresponding source vertex of the motor modality. As illustrated in FIG. 17, good motor output of the good neurons in the sink vertex U₁ ^({S}) ₃ is forwarded to the good neurons in the corresponding source vertex V₁ ^({S}) ₃. Bad motor output of the good neurons in the sink vertex U₁ ^({S}) ₃ is forwarded to the bad neurons in the corresponding source vertex V₁ ^({S}) ₃.

FIG. 18 illustrates the evaluation module 70 of the neural network 600 (FIG. 17), in accordance with an embodiment of the invention. If the motor output of the neurons in the vertex P(v^(g)) is good, the evaluation module 70 feeds the good motor output to the neurons in the corresponding source vertex v^(g), and a zero input to the neurons in the corresponding source vertex v^(b). If the motor output of the neurons in the vertex P(v^(g)) is bad, the evaluation module 70 feeds the bad motor output to the neurons in the corresponding source vertex v^(b), and a zero input to the neurons in the corresponding source vertex v^(g). Deadlock in activation propagation is thus prevented.

FIG. 19A illustrates an example of bijection between vertices, in accordance with an embodiment of the invention. In one embodiment, every good neuron is trained according to a perceptron learning rule. Specifically, every good neuron has a target output. For every good perception neuron in the bottom-up digraph, the target output is simply the output of the corresponding good action neuron in the top-down digraph, and also the complement of the output of the corresponding bad action neuron in the top-down digraph.

Similarly, for every good action neuron in the top-down digraph, the target output is simply the output of the corresponding bad perception neuron in the bottom-up digraph, and also the complement of the output of the corresponding bad perception neuron in the bottom-up digraph. In another embodiment, a Winnow learning rule or its variants may also be used.

For every bad neuron, there is no associated learning. Bad neurons are simply used to train good neurons in counter path.

FIG. 19B illustrates another example of bijection between vertices, in accordance with an embodiment of the invention.

In both FIGS. 19A and 19B, good perception neurons in the u^(g) vertex are trained to approximate good action neurons in the P(u^(g)) vertex and not to approximate bad action neurons in the P(u^(b)) vertex. If a neuron in the u^(g) vertex fires but a corresponding neuron in the the P(u^(g)) vertex does not, this is a false positive. The neuron in the u^(g) vertex is trained to unlearn the false positive. If a neuron in the u^(g) vertex does not fire but a corresponding neuron in the P(u^(g)) vertex does fire, this is a false negative. The neuron in the u^(g) vertex is trained to learn the false negative. Similarly, good perception neurons in the v^(g) vertex are trained to approximate good action neurons in the P(v^(g)) vertex and not to approximate bad action neurons in the P(v^(b)) vertex.

FIG. 20 illustrates an example of weights of the synaptic connections between neuron populations, in accordance with an embodiment of the invention. The weight of the synaptic connections interconnecting the neurons in the v^(g) vertex to the neurons in the u^(g) vertex must be the same as the weight of the synaptic connections interconnecting the neurons in the v^(b) vertex to the neurons in the u^(b) vertex. Similarly, the weight of the synaptic connections interconnecting the neurons in the P(u^(g)) vertex to the neurons in the P(v^(g)) vertex must be the same as the weight of the synaptic connections interconnecting the neurons in the P(u^(b)) vertex to the neurons in the P(v^(b)) vertex.

In one embodiment, the weight of the synaptic connections interconnecting the neurons in the v^(g) vertex to the neurons in the u^(g) vertex is asymmetric to the weight of the synaptic connections interconnecting the neurons in the P(u^(g)) vertex to the neurons in the P(v^(g)) vertex. Likewise, the weight of the synaptic connections interconnecting the neurons in the v^(b) vertex to the neurons in the u^(b) vertex is asymmetric to the weight of the synaptic connections interconnecting the neurons in the P(u^(b)) vertex to the neurons in the P(v^(b)) vertex.

FIG. 21 illustrates another example of weights of the synaptic connections between neuron populations, in accordance with an embodiment of the invention. In another embodiment, the weight of the synaptic connections interconnecting the neurons in the v^(g) vertex to the neurons in the u^(g) vertex is symmetric to the weight of the synaptic connections interconnecting the neurons in the P(u^(g)) vertex to the neurons in the P(v^(g)) vertex. Likewise, the weight of the synaptic connections interconnecting the neurons in the v^(b) vertex to the neurons in the u^(b) vertex is symmetric to the weight of the synaptic connections interconnecting the neurons in the P(u^(b)) vertex to the neurons in the P(v^(b)) vertex.

Symmetric weights are the preferred embodiment for the example provided in FIG. 19A. Symmetric or asymmetric weights may be used for the example provided in FIG. 19B.

FIG. 22A illustrates an example Hebbian learning rule, in accordance with the present invention. In one embodiment, the neurons 1 in the neural network 600 are spiking neurons. The Hebbian learning rule is applied when a good neuron fires.

FIG. 22B illustrates an example anti-Hebbian learning rule, in accordance with the present invention. The anti-Hebbian learning rule is applied when a bad neuron fires.

FIG. 23 illustrates a flowchart of an example process 800 for a lattice, in accordance with an embodiment of the invention. In process block 801, establish first nodes and second nodes arranged in a lattice, wherein each second node is a union of two or more first nodes. In process block 802, for each node, specify an acyclic digraph comprising vertices interconnected via directed edges. In process block 803, interconnect nodes via bottom-up signaling pathways arranged in an acyclic bottom-up digraph, wherein bottom-up signaling pathways include one or more vertices and directed edges. In process block 804, interconnect nodes via top-down signaling pathways arranged in an acyclic top-down digraph, wherein top-down signaling pathways include one or more vertices and directed edges. In process block 805, provide directed edges that interconnect the bottom-up digraph to the top-down digraph.

FIG. 24 illustrates a flowchart of an example process 900 for a neural network, in accordance with an embodiment of the invention. In process block 901, establish a neuron population for each vertex, wherein each neuron population in the bottom-up digraph and top-down digraph comprises perception neurons and action neurons, respectively. In process block 902, designate perception neurons at an input periphery as input neurons configured to receive sensory input, and designate action neurons at an output periphery as output neurons configured to generate motor output. In process block 903, the input neurons drive the perception neurons along bottom-up pathways, and the action neurons along the top-down pathways drive the output neurons. In process block 904, each perception neuron along a bottom-up pathway is trained using a learning rule, based on a firing event of a corresponding action neuron along a reciprocal top-down pathway, and each action neuron along a top-down pathway is trained using a learning rule, based on a firing event of a corresponding perception neuron along a reciprocal bottom-up pathway.

FIG. 25 is a high level block diagram showing an information processing circuit 300 useful for implementing one embodiment of the present invention. The computer system includes one or more processors, such as processor 302. The processor 302 is connected to a communication infrastructure 304 (e.g., a communications bus, cross-over bar, or network).

The computer system can include a display interface 306 that forwards graphics, text, and other data from the communication infrastructure 304 (or from a frame buffer not shown) for display on a display unit 308. The computer system also includes a main memory 310, preferably random access memory (RAM), and may also include a secondary memory 312. The secondary memory 312 may include, for example, a hard disk drive 314 and/or a removable storage drive 316, representing, for example, a floppy disk drive, a magnetic tape drive, or an optical disk drive. The removable storage drive 316 reads from and/or writes to a removable storage unit 318 in a manner well known to those having ordinary skill in the art. Removable storage unit 318 represents, for example, a floppy disk, a compact disc, a magnetic tape, or an optical disk, etc. which is read by and written to by removable storage drive 316. As will be appreciated, the removable storage unit 318 includes a computer readable medium having stored therein computer software and/or data.

In alternative embodiments, the secondary memory 312 may include other similar means for allowing computer programs or other instructions to be loaded into the computer system. Such means may include, for example, a removable storage unit 320 and an interface 322. Examples of such means may include a program package and package interface (such as that found in video game devices), a removable memory chip (such as an EPROM, or PROM) and associated socket, and other removable storage units 320 and interfaces 322 which allow software and data to be transferred from the removable storage unit 320 to the computer system.

The computer system may also include a communication interface 324. Communication interface 324 allows software and data to be transferred between the computer system and external devices. Examples of communication interface 324 may include a modem, a network interface (such as an Ethernet card), a communication port, or a PCMCIA slot and card, etc. Software and data transferred via communication interface 324 are in the form of signals which may be, for example, electronic, electromagnetic, optical, or other signals capable of being received by communication interface 324. These signals are provided to communication interface 324 via a communication path (i.e., channel) 326. This communication path 326 carries signals and may be implemented using wire or cable, fiber optics, a phone line, a cellular phone link, an RF link, and/or other communication channels.

In this document, the terms “computer program medium,” “computer usable medium,” and “computer readable medium” are used to generally refer to media such as main memory 310 and secondary memory 312, removable storage drive 316, and a hard disk installed in hard disk drive 314.

Computer programs (also called computer control logic) are stored in main memory 310 and/or secondary memory 312. Computer programs may also be received via communication interface 324. Such computer programs, when run, enable the computer system to perform the features of the present invention as discussed herein. In particular, the computer programs, when run, enable the processor 302 to perform the features of the computer system. Accordingly, such computer programs represent controllers of the computer system.

From the above description, it can be seen that the present invention provides a system, computer program product, and method for implementing the embodiments of the invention. References in the claims to an element in the singular is not intended to mean “one and only” unless explicitly so stated, but rather “one or more.” All structural and functional equivalents to the elements of the above-described exemplary embodiment that are currently known or later come to be known to those of ordinary skill in the art are intended to be encompassed by the present claims. No claim element herein is to be construed under the provisions of 35 U.S.C. section 112, sixth paragraph, unless the element is expressly recited using the phrase “means for” or “step for.”

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

The corresponding structures, materials, acts, and equivalents of all means or step plus function elements in the claims below are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The description of the present invention has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the invention. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated. 

What is claimed is:
 1. A method for interconnecting neurons in a neural network, the method comprising: interconnecting at least one node among a first set of nodes to at least one node among a second set of nodes; and arranging nodes of the first and second set in a lattice; wherein at least one node of the first set represents a sensory-motor modality of the neural network, and at least one node of the second set is a union of at least two nodes of the first set.
 2. The method of claim 1, wherein: each node in the lattice has a corresponding acyclic digraph; and each acyclic digraph comprises: multiple vertices; and multiple directed edges interconnecting the vertices in said acyclic digraph.
 3. The method of claim 2, wherein some acyclic digraphs are empty.
 4. The method of claim 3, further comprising: interconnecting vertices in different acyclic digraphs using an acyclic bottom-up digraph, wherein the bottom-up digraph includes the vertices and directed edges of each acyclic digraph.
 5. The method of claim 4, wherein the bottom-up digraph further includes additional directed edges that interconnect vertices in different acyclic digraphs, wherein a sending vertex in a first acyclic digraph is interconnected to a receiving vertex in a second acyclic digraph only if the node corresponding to the second acyclic digraph is a superset of the node corresponding to the first acyclic digraph.
 6. The method of claim 5, wherein the bottom-up digraph has a corresponding acyclic top-down digraph, said top-down digraph comprising multiple vertices and multiple directed edges interconnecting the vertices in said top-down digraph.
 7. The method of claim 6, wherein: each vertex in the top-down digraph corresponds to a vertex in the bottom-up digraph; and each directed edge in the top-down digraph corresponds to a directed edge in the bottom-up digraph, such that information flows along said directed edge in the top-down digraph in a first direction, and information flows along said corresponding directed edge in the bottom-up digraph in a direction opposite of the first direction.
 8. The method of claim 7, further comprising: interconnecting vertices in the bottom-up digraph to vertices in the top-down digraph using additional directed edges.
 9. The method of claim 8, wherein a sending vertex in the bottom-up digraph is interconnected to a receiving vertex in the top-down digraph if the intersection of the node corresponding to the sending vertex and the node corresponding to the receiving vertex is empty.
 10. The method of claim 8, wherein a sending vertex in the bottom-up digraph is interconnected to a receiving vertex in the top-down digraph if the sending vertex and the receiving vertex correspond to one another.
 11. The method of claim 8, further comprising: identifying source vertices in the bottom-up digraph and the top-down digraph, wherein source vertices are vertices that do not have incoming directed edges; and identifying sink vertices in the bottom-up digraph and the top-down digraph, wherein sink vertices are vertices that do have outgoing directed edges.
 12. The method of claim 11, further comprising: for each source vertex in the bottom-up digraph, configuring said source vertex in the bottom-up digraph to receive sensory input; for each sink vertex in the bottom-up digraph, interconnecting said sink vertex in the bottom-up graph to a vertex in the top-down digraph using at least one outgoing directed edge from said sink vertex; for each source vertex in the top-down digraph, interconnecting a vertex in the bottom-up graph to said source vertex in the top-down graph using at least one incoming directed edge to said source vertex; and for each sink vertex in the top-down digraph, configuring said sink vertex in the top-down graph to generate motor output.
 13. The method of claim 8, further comprising: duplicating the bottom-up digraph into a first duplicated bottom-up digraph and a second duplicated bottom-up digraph; duplicating the top-down digraph into a first duplicated top-down digraph and a second duplicated top-down digraph; identifying each vertex in the first duplicated bottom-up digraph and the first duplicated top-down digraph as a good vertex; and identifying each vertex in the second duplicated bottom-up digraph and the second duplicated top-down digraph as a bad vertex; wherein each good vertex in the first duplicated bottom-up digraph corresponds to a bad vertex in the second duplicated bottom-up digraph, a good vertex in the first duplicated top-down digraph, and a bad vertex in the second duplicated top-down digraph.
 14. The method of claim 13, further comprising: identifying good source vertices and bad source vertices in the first and second duplicated bottom-up digraphs, respectively, wherein source vertices are vertices that do not have incoming directed edges; identifying good sink vertices and bad sink vertices in the first and second duplicated top-down digraphs, respectively, wherein sink vertices are vertices that do have outgoing directed edges; and for each good sink vertex in the first duplicated top-down graph: connecting said good sink vertex to an evaluation module, wherein the evaluation module determines whether an output from said good sink vertex is good or bad; connecting good output from said good sink vertex to a corresponding good source vertex in the first duplicated bottom-up graph; and connecting bad output from said good sink vertex to a corresponding bad source vertex in the second duplicated bottom-up graph.
 15. The method of claim 8, wherein each vertex represents a neuron population comprising multiple neurons.
 16. The method of claim 15, wherein each directed edge interconnecting a sending vertex to a receiving vertex comprises multiple synaptic connections such that a neuron in a neuron population corresponding to the receiving vertex receives synaptic connections from a subset of neurons in a neuron population corresponding to the second vertex.
 17. A method for interconnecting neural nodes, the method comprising: interconnecting a plurality of first nodes in a first set of nodes with a plurality of second nodes in a second set of nodes, the connected nodes are arranged in an interconnection lattice; wherein each node represents at least one population of neurons; and wherein a connected node in the second set is a union of at least two nodes in the first set, such that said connected node exchanges signals with said at least two nodes via the interconnection lattice.
 18. The method of claim 17, wherein: a node comprises one or more neural vertices interconnected via multiple directed edges arranged in an acyclic digraph, wherein each neural vertex comprises one or more neurons, and each edge comprises a signaling pathway in the interconnection lattice.
 19. The method of claim 18, wherein interconnecting nodes comprises: interconnecting said nodes via bottom-up signaling pathways arranged in an acyclic bottom-up digraph in the interconnection lattice, each bottom-up signaling pathway including one or more vertices and directed edges; and interconnecting said nodes via top-down signaling pathways arranged in an acyclic top-down digraph in the interconnection lattice, each top-down signaling pathway including one or more vertices and directed edges; wherein a sending vertex of a first node is interconnected to a receiving vertex of a second node only if the second node is a superset of the first node; wherein each vertex in the top-down digraph corresponds to a vertex in the bottom-up digraph; and wherein each directed edge in the top-down digraph corresponds to a directed edge in the bottom-up digraph, such that information flows along said directed edge in the top-down digraph in a first direction, and information flows along said corresponding directed edge in the bottom-up digraph in a direction opposite of the first direction.
 20. The method of claim 19, further comprising interconnecting vertices in the bottom-up digraph to vertices in the top-down digraph using additional directed edges.
 21. The method of claim 20, wherein a sending vertex in the bottom-up digraph is interconnected to a receiving vertex in the top-down digraph if an intersection of the node comprising the sending vertex and the node comprising the receiving vertex is empty.
 22. The method of claim 20, wherein a sending vertex in the bottom-up digraph is interconnected to a receiving vertex in the top-down digraph if the sending vertex and the receiving vertex correspond to one another.
 23. The method of claim 20, further comprising: designating vertices that do not have incoming directed edges as source vertices; designating vertices that do not have outgoing directed edges as sink vertices; configuring a source vertex in the bottom-up digraph to receive sensory input; configuring a sink vertex in the top-down digraph to generate motor output; for each sink vertex in the bottom-up digraph, interconnecting said sink vertex in the bottom-up digraph to a vertex in the top-down digraph using at least one outgoing directed edge from said sink vertex; and for each source vertex in the top-down digraph, interconnecting a vertex in the bottom-up digraph to said source vertex in the top-down digraph using at least one incoming directed edge to said source vertex.
 24. The method of claim 20, further comprising: for each vertex, designating a first set and a second set of neurons in said vertex as good neurons and bad neurons, respectively, such that the number of good neurons in said vertex is the same as the number of bad neurons in said vertex; wherein each good neuron in a vertex in the top-down digraph corresponds to a bad neuron in said vertex, a good neuron in a corresponding vertex in the bottom-down digraph, and a bad neuron in the corresponding vertex in the bottom-down digraph.
 25. The method of claim 24, further comprising: designating vertices that do not have incoming directed edges as source vertices; designating vertices that do not have outgoing directed edges as sink vertices; and for each good neuron in a sink vertex in the top-down digraph: connecting said good neuron to an evaluation module, wherein the evaluation module determines whether output from said good neuron is good or bad, such that good output from said good neuron is connected to a corresponding good neuron in a corresponding source vertex in the bottom-up digraph, and bad output from said good neuron is connected to a corresponding bad neuron in the corresponding source vertex in the bottom-up digraph.
 26. The method of claim 18, wherein: each node has a sensory or motor modality; each directed edge interconnecting a sending vertex to a receiving vertex comprises multiple synaptic connections such that a neuron in the receiving vertex receives synaptic connections from a subset of neurons in the sending vertex; and some acyclic digraphs are empty. 